U.S. patent number 6,542,793 [Application Number 09/960,491] was granted by the patent office on 2003-04-01 for pedal apparatus for vehicles and a vehicle equipped with the same.
This patent grant is currently assigned to Hitachi, Ltd.. Invention is credited to Takao Kojima, Satoru Kuragaki, Toshimichi Minowa, Kazuhiko Satou, Tokuji Yoshikawa.
United States Patent |
6,542,793 |
Kojima , et al. |
April 1, 2003 |
Pedal apparatus for vehicles and a vehicle equipped with the
same
Abstract
There is provided a pedal apparatus for vehicles, which
comprises a pedal reaction-force addition means 4 for adding a
reaction force to a pedal 1 of a vehicle, a pedal force detection
means 2 for detecting a force added to the pedal 1, a pedal
reaction-force control means 3 for adjusting the output of the
pedal reaction-force addition means 4. During the running of the
vehicle, the pedal reaction-force control means 3 performs the
adjustment of a reaction force of the pedal on the basis of the
driving environment of the vehicle and the driver's intention and
judgement in pedal operation in the driving environment, whereby it
is ensured that when the driver has no intention of operating the
pedal, the driver can sufficiently place his or her foot on the
pedal and that when he driver has any intention of operating the
pedal, the driver can realize a smooth pedal operation.
Inventors: |
Kojima; Takao (Hitachi,
JP), Satou; Kazuhiko (Mito, JP), Minowa;
Toshimichi (Mito, JP), Kuragaki; Satoru (Hitachi,
JP), Yoshikawa; Tokuji (Hitachi, JP) |
Assignee: |
Hitachi, Ltd. (Tokyo,
JP)
|
Family
ID: |
18975987 |
Appl.
No.: |
09/960,491 |
Filed: |
September 24, 2001 |
Foreign Application Priority Data
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Apr 25, 2001 [JP] |
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2001-127047 |
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Current U.S.
Class: |
701/1; 180/170;
180/176; 180/177; 180/274; 180/275; 303/113.1; 303/113.5;
303/116.1; 303/122.09; 60/547.1; 60/554; 701/70; 701/78; 701/79;
701/93; 74/512; 74/513 |
Current CPC
Class: |
B60T
7/042 (20130101); G05G 1/30 (20130101); B60K
31/18 (20130101); Y10T 74/20534 (20150115); Y10T
74/20528 (20150115) |
Current International
Class: |
B60T
7/04 (20060101); G06F 007/00 (); G06F 017/00 () |
Field of
Search: |
;701/1,70,78,93,79
;303/116.1,113.1,113.5,113.2,113.4,122.09 ;60/554,547.1
;180/170,176,177,274,275 ;74/512,513 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
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9-123883 |
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May 1997 |
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JP |
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2000-54860 |
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Feb 2000 |
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JP |
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Other References
US. patent application Ser. No. 09/824,720. .
U.S. patent application Ser. No. 09/922,917..
|
Primary Examiner: Cuchlinski, Jr.; William A.
Assistant Examiner: Mancho; Ronnie
Claims
What is claimed is:
1. A pedal apparatus for vehicles, comprising: a pedal
reaction-force addition means for adding a reaction force to a
pedal of a vehicle for inhibiting operation of the pedal and
maintaining the pedal in an initial position; a pedal force
detection means for detecting a force added to the pedal; and a
pedal reaction-force control means for adjusting the reaction force
added by said pedal reaction-force addition means, said pedal
reaction-force control means adjusting the reaction force by said
pedal reaction-force addition means responding to the pedal force
detected by said pedal force detection means to maintain the pedal
in the initial position.
2. A pedal apparatus for vehicles according to claim 1, wherein, in
a case where a prescribed time elapses with a ratio of the force
added by said pedal reaction-force addition means to the pedal
force detected by said pedal force detection means being kept out
of a prescribed range, said pedal reaction-force control means
changes the force added by said pedal reaction-force addition
means.
3. A pedal apparatus for vehicles according to claim 1, wherein, in
a case where the output of said pedal force detection means
increases and the amount of increase in the output becomes not less
than a prescribed threshold value, the output of said pedal
reaction-force addition means is changed.
4. A pedal apparatus for vehicles, comprising: a pedal
reaction-force addition means for adding a reaction force to a
pedal of a vehicle; a pedal force detection means for detecting a
force added to the pedal; and a status information means for giving
a driver notice of the status of the force added to the pedal.
5. A pedal apparatus for vehicles according to claim 4, wherein
said status information means is a pedal-status information device
for giving a notice of an output ratio of said pedal reaction-force
addition means to said pedal force detection means.
6. A pedal apparatus for vehicles according to claim 4, wherein, in
a case where an output of said pedal force detection means exceeds
a prescribed threshold value, said status information means gives a
notice of the fact that the output of said pedal force detection
means exceeded a prescribed threshold value.
7. A vehicle comprising a pedal apparatus for vehicles, said pedal
apparatus for vehicles comprising: a pedal reaction-force addition
means for adding a reaction force to a pedal of a vehicle when the
pedal is in an initial position; a pedal force detection means for
detecting a force added to the pedal; and a pedal reaction-force
control means for adjusting the reaction force added by said pedal
reaction-force addition means, wherein said pedal reaction-force
control means adjusts the reaction force added by said pedal
reaction-force addition means responsive to the pedal force
detected by said pedal force detection means to maintain the pedal
in the initial position.
8. A vehicle comprising a pedal apparatus for vehicles, said pedal
apparatus for vehicles comprising: a pedal reaction-force addition
means for adding a reaction force to a pedal of a vehicle; a pedal
force detection means for detecting a force added to the pedal; and
a status information means for giving a driver notice of the status
of the force added to the pedal.
Description
BACKGROUND OF THE INVENTION
The present invention relates to a pedal apparatus for vehicles and
a vehicle equipped with the pedal apparatus and, more particularly,
to a pedal apparatus suitable for use in vehicles equipped with a
pedal reaction-force addition means capable of being used in an
automatic running control apparatus for vehicles and a vehicle
equipped with the pedal apparatus.
Some known recent vehicles are equipped with what is called an
automatic running control apparatus, such as a cruise control
apparatus for keeping the speed of a vehicle not by the pedal
operation by a driver and an adaptive cruise control apparatus for
keeping an appropriate distance between one's vehicle and the
vehicle in front. Because in such an automatic running control
apparatus, the driver suspends the operation of the automatic
running control apparatus by operating a pedal, there is a known
pedal apparatus for vehicles which enables a brake pedal or an
accelerator pedal to be used as a place where the driver can place
his or her foot during the operation of the automatic running
control apparatus.
For example as described in JP-A-9-123883, there is a known pedal
apparatus for vehicles, in which even when the driver's foot is
kept placed on the pedal apparatus during the operation of an
automatic running control apparatus, it is ensured by the control
of the hydraulic pressure of a brake that a wheel brake does not
work when a pedal force is below a prescribed value and that the
wheel brake works when the pedal force is not less than the
prescribed value. Furthermore, as described in JP-A-2000-54860,
there is another known pedal apparatus for vehicles, in which
during the operation of an automatic running control apparatus, it
is ensured, through the use of a reaction-force adjustment means
for adding a prescribed reaction force to an accelerator pedal or a
brake pedal, that a condition in which the pedal is not depressed
beyond a prescribed pedal-holding position during pedal depressing
is kept when the driver's foot is simply placed on the pedal.
However, in the pedal apparatuses for vehicles described in
JP-A-9-123883 and JP-A-2000-54860, a reaction force added to the
pedal during the operation of a vehicle is constant and, therefore,
the reaction force is not always appropriate for the driver in
various driving environments. In such cases, it is necessary for
the driver to strongly depress the pedal by putting force in the
leg in pedal operation or, conversely, to keep a standby condition
in which the motion of the foot is stopped immediately before the
depressing of the pedal because the foot cannot be sufficiently
placed on the pedal, posing a first problem that the fatigue of the
driver's foot increases.
Furthermore, even when the driver can obtain a reaction force high
enough to simply place his or her foot on the pedal, the driver
cannot easily judge to what extent the pedal force can be held and
it is necessary for the driver to pay attention to the possibility
that the pedal may be depressed, posing a second problem that the
driver's fatigue increases also psychologically.
SUMMARY OF THE INVENTION
Therefore, the first object of the present invention is to provide
a pedal apparatus for vehicles which can add an appropriate
reaction force to a pedal and a vehicle equipped with the pedal
apparatus.
The second object of the present invention is to provide a pedal
apparatus for vehicles which does not put a burden on a driver and
which is friendly to the driver and a vehicle equipped with the
pedal apparatus. (1) In the present invention, to achieve the first
object, there is provided a pedal apparatus for vehicles which
comprises: a pedal reaction-force addition means for adding a
reaction force to a pedal of a vehicle; a pedal force detection
means for detecting a force added to the pedal; and a pedal
reaction-force control means for adjusting the output of the pedal
reaction-force addition means. The pedal reaction-force control
means adjusts the output of the pedal reaction-force addition means
according to the output of the pedal force detection means.
With this arrangement, it enables an appropriate reaction force to
be added to the pedal. (2) In the above item (1), preferably, in a
case where a prescribed time elapses with the output ratio of the
pedal reaction-force addition means to the pedal force detection
means kept out of a prescribed range, the output of the pedal
reaction-force addition means is changed. (3) In the above item
(1), preferably, in a case where the output of the pedal force
detection means increases and the amount of increase in the output
becomes not less than a prescribed threshold value, the output of
the pedal reaction-force addition means is changed. (4) In the
present invention, to achieve the second object, there is provided
a pedal apparatus for vehicles which comprises: a pedal
reaction-force addition means for adding a reaction force to a
pedal of a vehicle; a pedal force detection means for detecting a
force added to the pedal; and a status information notice means for
giving a notice of the status of the force added to the pedal.
With this arrangement, the pedal apparatus for vehicles does not
put a burden on a driver and is friendly to the driver. (5) In the
above item (4), preferably, the status information means gives a
notice of the output ratio of the pedal reaction-force addition
means to the pedal force detection means. (6) In the item (4)
above, preferably, in a case where the output of the pedal force
detection means exceeds a prescribed threshold value, the status
information means gives a notice of the fact that the output of the
pedal force detection means exceeded a prescribed threshold value.
(7) In the present invention, to achieve the first object, there is
provided a vehicle which is equipped with a pedal apparatus for
vehicles which comprises: a pedal reaction-force addition means for
adding a reaction force to a pedal of a vehicle; a pedal force
detection means for detecting a force added to the pedal; and a
pedal reaction-force control means for adjusting the output of the
pedal reaction-force addition means. The pedal reaction-force
control means adjusts the output of the pedal reaction-force
addition means according to the output of the pedal force detection
means.
With this arrangement, it enables an appropriate reaction force to
be added to the pedal. (8) In the present invention, to achieve the
second object, there is provided a vehicle which is equipped with a
pedal apparatus for vehicles which comprises: a pedal
reaction-force addition means for adding a reaction force to a
pedal of a vehicle; a pedal force detection means for detecting a
force added to the pedal; and a status information means for giving
a notice of the status of the force added to the pedal.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a block diagram which shows the arrangement of a pedal
apparatus for vehicles comprising a pedal reaction-force addition
device according to a first embodiment of the present
invention;
FIG. 2 is a flow chart which shows the content of the control by
the pedal reaction-force addition means according to the first
embodiment of the present invention;
FIG. 3 is a flow chart which shows the content of the processing
for setting an initial reaction force by the pedal reaction-force
addition means according to the first embodiment of the present
invention;
FIGS. 4A to 4C are time charts which show the content of the
processing for setting an initial reaction force by the pedal
reaction-force addition means according to the first embodiment of
the present invention;
FIG. 5 is a flow chart which shows the content of the processing
for adjusting a reaction force by the pedal reaction-force addition
means according to the first embodiment of the present
invention;
FIGS. 6A to 6D are time charts which-show the content of the
processing for adjusting a reaction force by the pedal
reaction-force addition means according to the first embodiment of
the present invention;
FIG. 7 is a flow chart which shows the content of the processing
for adjusting a reaction force by the pedal reaction-force addition
means according to the first embodiment of the present
invention;
FIGS. 8A and 8B are time charts which show the content of
processing for adjusting a reaction force by the pedal
reaction-force addition means according to the first embodiment of
the present invention;
FIG. 9 is a flow chart which show the content of the processing for
adjusting a reaction force by the pedal reaction-force addition
means according to the first embodiment of the present
invention;
FIGS. 10A and 10B are time charts which show the content of the
processing for adjusting a reaction force by the pedal
reaction-force addition means according to the first embodiment of
the present invention;
FIG. 11 is a block diagram which shows the arrangement of a pedal
apparatus for vehicles comprising a pedal reaction-force
application device according to a second embodiment of the present
invention;
FIG. 12 is a block diagram which shows the arrangement of a pedal
apparatus for vehicles comprising a pedal reaction-force
application device according to a third embodiment of the present
invention;
FIG. 13 is a block diagram which shows the arrangement of a pedal
apparatus for vehicles comprising a pedal-pedal-status information
device according to a fourth embodiment of the present
invention;
FIG. 14 is a block diagram which shows the arrangement of a display
means used in the pedal-pedal-status information device according
to the fourth embodiment of the present invention;
FIG. 15 is an explanatory diagram which shows another example of
display means used in the pedal-pedal-status information device
according to the fourth embodiment of the present invention;
FIGS. 16A to 16D are time charts which show a display method of the
pedal-pedal-status information device according to the fourth
embodiment of the present invention;
FIG. 17 is an explanatory diagram which shows a further example of
display means used in the pedal-pedal-status information device
according to the fourth embodiment of the present invention;
FIG. 18 is an explanatory diagram which shows a further example of
display means used in the pedal-pedal-status information device
according to the fourth embodiment of the present invention;
FIG. 19 is an explanatory diagram which shows a further example of
display means used in the pedal-pedal-status information device
according to the fourth embodiment of the present invention;
FIG. 20 is a block diagram which shows a still further example of
arrangement of the display means used in the pedal -pedal-status
information device according to the fourth embodiment of the
present invention;
FIG. 21 is a block diagram which shows a still further example of
arrangement of the display means used in the pedal-pedal-status
information device according to the fourth embodiment of the
present invention;
FIG. 22 is a construction diagram which shows a still further
example of construction of the display means used in the
pedal-status information device according to the fourth embodiment
of the invention;
FIG. 23 is a block diagram which shows a still further example of
arrangement of the display means used in the pedal-pedal-status
information device according to the fourth embodiment of the
present invention;
FIG. 24 is a block diagram which shows the arrangement of a pedal
apparatus for vehicles according to a fifth embodiment of the
present invention; and
FIG. 25 is a block diagram which shows the arrangement of a vehicle
equipped with the pedal apparatus for vehicles according to the
fifth embodiment of the present invention.
DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS OF THE INVENTION
The arrangement and operation of a pedal apparatus for vehicles
according to a first embodiment of the present invention are
described below by referring to FIG. 1 to FIGS. 10A and 10B.
First, the arrangement of a pedal apparatus for vehicles according
to this embodiment is described by referring to FIG. 1.
FIG. 1 is a block diagram which shows the arrangement of a pedal
apparatus for vehicles comprising a pedal reaction-force addition
device according to the first embodiment of the present
invention.
The pedal reaction-force application device comprises a pedal 1, a
pedal force detection means 2, a pedal reaction-force control means
3, and a pedal reaction-force addition means 4. The pedal 1 may be
either a brake pedal or an accelerator pedal. The pedal force
detection means 2 is a sensor for detecting a force added to the
pedal 1. The pedal reaction-force control means 3 controls a
reaction force added to the pedal 1 to an appropriate value by
controlling the pedal reaction-force addition means 4. The details
of the content of the control will be described later by referring
to FIG. 2.
The pedal reaction-force addition means 4 gives a reaction force to
the pedal 1 by use of an electromagnet (solenoid) and comprises a
stator 4a and a movable element 4b. The stator 4a is fixed at its
end to a vehicle body 5. The movable element 4b is fixed to an arm
of the pedal 1. The pedal reaction-force control means 3 realizes
the reaction-force adjustment of the pedal 1 by changing the
quantity of electricity to the stator 4a of pedal reaction-force
addition means 4, thereby changing a suction force between the
stator 4a and the movable element 4b.
Next, the operation of the pedal reaction-force control means
according to this embodiment is described by referring to FIG. 2 to
FIGS. 10A and 10B.
First, the over-all content of the control by the pedal
reaction-force control means according to this embodiment is
described by referring to FIG. 2.
FIG. 2 is a flow chart which shows the content of the control by
the pedal reaction-force addition means according to the first
embodiment of the present invention.
At the step S100, the pedal reaction-force control means 3 starts
the processing for adjusting a pedal reaction-force.
Next, at the step S110, the pedal reaction-force control means 3
judges whether or not the vehicle is running. The step S110
proceeds to the step S200 when the vehicle is at a standstill. The
step S110 proceeds to the step S300 when the vehicle is running. In
the case of a vehicle equipped with an automatic transmission (an
AT vehicle), a judgment is passed as to whether the vehicle is
running, for example, by considering whether or not the shift
position is the "P" (parking) position. Furthermore, safety may be
ensured by ascertaining whether or not the vehicle speed is "0
km/h" or whether or not a parking brake is working instead of
checking the shift position, for example. By adopting these
judgment methods, the pedal reaction-force control means 3 can be
added to a manual transmission vehicle (an MT vehicle).
In a case where the vehicle is at a standstill, at the step S200
the pedal reaction-force control means 3 performs the processing
for setting an initial reaction force. The details of the content
of processing for setting an initial reaction force are described
by referring to FIG. 3 and FIGS. 4A to 4C. In the processing for
setting an initial reaction force, an initial value of a reaction
force added to the pedal by the reaction-force addition means 4 is
automatically adjusted to the driver. Therefore, an appropriate
pedal reaction force can be added irrespective of personal
differences among drivers.
Because in this embodiment, a reaction force added to the pedal can
be set only when the vehicle is at a complete standstill, it is
possible to ensure the safety of occupants including the driver.
Incidentally, when an initial reaction force is set during the
running of the vehicle, there is a possibility that the reaction
force of the pedal 1 may change during running or the driver may
not perform a safe operation because the driver concentrates his or
her awareness on setting. In this embodiment, however, the driver
can ensure the safety of occupants in spite of this
possibility.
Furthermore, while the vehicle is running or when the processing at
the step S200 is completed, at the step S300 the pedal
reaction-force control means 3 performs the processing for
adjusting the reaction force of the pedal 1 on the basis of the
driving environment of the vehicle or the driver's intention and
judgment in pedal operation. The details of the content of
processing for adjusting a reaction force will be described later
by referring to FIG. 5 to FIGS. 10A and 10B. In the processing for
adjusting a reaction force, by performing the adjustment of the
reaction force of the pedal 1 on the basis of the driving
environment of the vehicle or the driver's intention and judgment
in pedal operation, it is ensured that when the driver has no
intention of operating the pedal 1, the driver can sufficiently
place his or her foot on the pedal 1 and that when the driver has
any intention of operating the pedal 1, the driver can realize a
smooth pedal operation.
Next, at the step S120, the pedal reaction-force control means 3
adds a set reaction force to the pedal 1 by use of the pedal
reaction-force addition means 4 and temporarily finishes this
processing.
Next, the content of the processing for setting an initial
reaction-force by the pedal reaction-force control means according
to this embodiment is described by referring to FIG. 3 and FIGS. 4A
to 4C.
FIG. 3 is a flow chart which shows the content of the processing
for setting an initial reaction force by the pedal reaction-force
addition means according to the first embodiment of the present
invention. FIGS. 4A to 4C are time charts which show the content of
the processing for setting an initial reaction force by the pedal
reaction-force addition means according to the first embodiment of
the present invention.
In FIGS. 4A to 4C, the horizontal axis represents time. FIG. 4A
indicates the condition of the processing for setting, FIG. 4B
indicates the magnitude of an added reaction force F, and FIG. 4C
indicates the magnitude of a pedal force.
At the step S201 in FIG. 3, the pedal reaction-force control means
3 judges whether or not a setting switch is on. The setting switch
is installed, for example, on a dash board of a vehicle and when
the driver intends to set an initial reaction force, the driver
turns this switch on. When the setting switch is in the on
position, the pedal reaction-force control means 3 performs the
processing for setting an initial reaction force at the step S203
and succeeding steps. On the other hand, when the setting switch is
in the off position, the step S201 proceeds to the step S202, where
the pedal reaction-force control means 3 sets a value set last time
or a specified value as an initial reaction force Fi without
renewedly setting an initial value and temporarily finishes this
processing. Therefore, when the driver temporarily leaves the
vehicle and starts operation again, it is unnecessary for the
driver to set an initial reaction force and hence the driver can
save the labor of setting an initial reaction force each time
operation is started.
When the processing for setting is to be started, at the step S203,
the pedal reaction-force control means 3 judges whether or not the
pedal 1 in the initial position. For example, when the pedal 1 is a
brake pedal, in a judgment as to whether or not the pedal 1 is in
the initial position, it is possible to judge from the output of a
brake sensor whether or not the brake is depressed. Furthermore,
when the pedal 1 is an accelerator pedal, whether or not the
accelerator is depressed can be judged from the output of an
accelerator-position sensor. When the pedal 1 is in the initial
position, the step S203 proceeds to the step S205. When the pedal 1
is not in the initial position, the step S203 proceeds to the step
S204.
In a case where the pedal is in the initial position in the
judgment at the step S203, at the step S205 the pedal
traction-force control means 3 temporarily sets the pedal reaction
force at a maximum value Fmax and makes preparations for
measurement for the setting of an initial reaction force. In other
words, when at the time t1 in FIGS. 4A to 4C the setting switch is
on during the processing for setting as shown in FIG. 4A, the pedal
reaction-force control means 3 sets a maximum value Fmax as an
added reaction force F as shown in FIG. 4B.
Next, at the step S206, the pedal reaction-force control means 3
judges whether or not the driver has placed his or her foot on the
pedal 1. For the judgment as to whether or not the driver's foot
has been placed, for example, when the output of the pedal force
detection means 2 is larger than 0, the pedal reaction-force
control means 3 judges that the driver's foot has been placed on
the pedal 1. When it is judged that the driver's foot has been
placed, the step S206 proceeds to the step S208. When it is judged
that the driver's foot has not been placed, the step S206 proceeds
to the step S207. For example, at the time t2 in FIGS. 4A to 4C,
the pedal force is larger than 0 as shown-in FIG. 4C and,
therefore, it is judged that the driver's foot has been placed.
When it is judged that the driver's foot has been placed, at the
step S208 the pedal reaction-force control means 3 judges, on the
basis the output of the pedal force detection means 2, whether
measured values of pedal force have become stable. In falling a
judgment as to whether or not measured values have become stable,
the pedal reaction-force control means 3 calculates the dispersion
and standard deviation of measured values and judges these values
are not more than prescribed values. When it is judged that
measured values have become stable, the step S208 proceeds to the
step S210. When it is judged that measured values have not become
stable, the step S208 proceeds to the step S209.
In a case where measured values have not become stable, at the step
S209 the pedal reaction-force control means 3 judges whether or not
the time after the start of measurement has exceeded a prescribed
value. When it is judged that a prescribed time has been exceeded,
the step S209 proceeds to the step S202. On the other hand, when it
is judged that a prescribed time has not elapsed, the step S209
returns o the step S208 and the measurement is continued.
Therefore, in a case where measured values do not become stable
within a prescribed time, at the step S202 a value set last time or
a specified value is set as an initial reaction force Fi. In this
case, by bringing the setting switch into an on condition, it is
possible to perform again the processing for adjusting an initial
reaction force at the step S200.
When it is judged in the judgment at the step S208 that a measured
value has become stable, at the step S210 the pedal reaction-force
control means 3 calculates, on the basis of a measured value of
pedal force, an initial reaction force Fi of the pedal 1 necessary
to the driver and temporarily finishes this processing. Then, after
the processing for adjusting a reaction force at the step S300 in
FIG. 2, at the step S120 the pedal reaction-force control means 3
applies an initial reaction force Fi at the time t3 as shown in
FIG. 4B.
When at the step S204 or S207 a decision to stop the processing for
setting an initial reaction force is made, at the step S202 the
pedal reaction-force control means 3 applies a value set last time
or a specified value as an initial reaction force Fi. Therefore,
the driver can stop the setting any time by bringing the setting
switch into an off position.
Therefore, the driver can obtain a pedal reaction force suitable to
the driver only by depressing the setting switch and placing his or
her foot on the pedal 1. Incidentally, in a case where the setting
switch is depressed again during setting or the function of holding
the pedal 1 is canceled because the driver has strongly depressed
the pedal 1, it is also possible to add the function of resetting
or stopping the setting. When the setting is stopped, a specified
value is set as an initial reaction force Fi.
Next, the content of the processing for adjusting a reaction force
by the pedal reaction-force control means according to this
embodiment is described by referring to FIG. 5 to FIGS. 10A and
10B.
FIGS. 5, 7 and 9 are flow charts which show the content of
processing for adjusting a reaction force by the pedal
reaction-force addition means according to the first embodiment of
the present invention. FIGS. 6A to 6D, FIGS. 8A and 8B and FIGS.
10A and 10B are time charts which show the content of the
processing for adjusting a reaction force by the pedal
reaction-force addition means according to the first embodiment of
the present invention.
In FIGS. 6A to 6D, the horizontal axis represents time. FIG. 6A
indicates the magnitude of pedal force, FIG. 6B a change in the
amount of pedal force, FIG. 6C the magnitude of an added reaction
force, and FIG. 6D the pedal position. In FIGS. 8A and 8B and FIGS.
10A and 10B, the horizontal axis represents time. FIGS. 8A and 10A
indicate the magnitude of an added reaction force and FIGS. 8B and
10B indicate the magnitude of pedal force.
At the step S301 in FIG. 5, the pedal reaction-force control means
3 judges whether an automatic running control apparatus is working.
Because the vehicle is equipped with a switch for turning on and
off the automatic running control apparatus, etc., from the
condition of this switch, it is possible to judge whether or not
the automatic running control apparatus is working. In a case where
the automatic running control apparatus is working, the step S301
proceeds to the step S302. On the other hand, in a case where the
automatic running control apparatus is not working, the step S301
proceeds to the step S303 and the pedal reaction-force control
means 3 sets 0 as a pedal reaction force FK, with the result that
the pedal reaction-force addition means does not work.
In a case where the automatic running control apparatus is working,
at the step S302 the pedal reaction-force control means 3 judges
whether or not the driver has any intention of operating the pedal
1. When it is judged that the driver has the intention, the step
S302 proceeds to the step S304. When it is judged that the driver
has no intention, the step S302 proceeds to the step S305.
Then, a method of judging whether or not the driver has any
intention of operating the pedal 1 is described by referring to
FIGS. 6A to 6D. The pedal force shown in FIG. 6A indicates values
detected by the pedal force detection means. FIG. 6B shows the
result a differentiation of the pedal force shown in FIG. 6A with
respect to time.
In FIGS. 6A to 6D, until the time t8, the driver simply places his
or her foot on the pedal 1. When at the time t8 the driver begins
to depress the pedal 1, the pedal force increases as shown in FIG.
6A. At that time, the pedal reaction-force control means 3 monitors
a change in the amount of pedal force shown in FIG. 6B and judges
whether or not the change in the amount of pedal force has exceeded
a prescribed threshold step Sth. If it is supposed that, for
example, at the time t9 in FIG. 6B a change in the amount of pedal
force has exceeded a prescribed threshold step Sth, the pedal
reaction-force control means 3, when this condition continues for a
prescribed time, judges that the driver had any intention of
operating the pedal 1, for example, at the time t10. Until the time
t10, a reaction force is added to the pedal 1 as shown in FIG.
6C.
When it is judged that the driver has any intention of operating
the pedal 1, at the step S304 the pedal reaction-force control
means 3 performs the adjustment of a reaction force. In other
words, as shown in FIG. 6C, the pedal reaction-force control means
3 reduces a reaction force added to the pedal 1. As a result, the
pedal apparatus can change the pedal position according to the
pedal force.
Incidentally, it is ensured that a reaction force added to the
pedal 1 does not change in a case where the amount of change in
pedal force instantaneously exceeds a threshold step Sth.
Therefore, this permits smooth pedal operation only when the driver
required a pedal operation, and on the other hand, when the driver
has no intention of operating the pedal 1, the driver can
sufficiently place his or her foot on the pedal 1.
Furthermore, the driver's intention of operating the pedal 1 can be
judged on the basis of various kinds of vehicle information, such
as vehicle speed, vehicle-to-vehicle (adaptive cruise) distance,
yaw rate, steering angle, control condition, wiper switch
information and brake information, and results of learning by
learning means.
On the other hand, when it is judged at the step S302 that the
driver has no intention of operating the pedal 1, at the step S305
the pedal reaction-force control means 3 judges whether or not the
pedal force F is not less than a prescribed threshold value Fu. In
a case where the pedal force F is not less than a prescribed
threshold value Fu, at the step S400 the pedal reaction-force
control means 3 starts the processing for increasing an initial
reaction force. In a case where the pedal force F is less than a
prescribed threshold value Fu, the step S305 proceeds to the step
S306. On the basis of the output of the pedal reaction-force
addition means 4, which has been set, threshold value Fu is set as
an upper limit value of the output ratio of the pedal force
detection means 2 to the pedal reaction-force addition means 4. In
a case where the output of the pedal force detection means 2 is not
less than a set threshold value Fu, the pedal reaction-force
control means 3 judges that a reaction force added to the pedal 1
is unsuitable for the driver and performs, at the step S400, the
processing for increasing an initial reaction force.
The content of the processing for increasing an initial reaction
force S400 is described by referring to FIG. 7. The processing for
increasing an initial reaction force, the step S400, provides a
pedal reaction force suitable for the driver in a case where a set
initial reaction force is judged to be too weak for the driver.
At the step S401 in FIG. 7, the pedal reaction-force control means
3 counts, by means of a counter tl, the time during which the
condition that the pedal force F is not less than a threshold value
Fu is continued. In other words, as shown in FIG. 8B, the pedal
reaction-force control means 3 starts counting, if the pedal force
exceeds a threshold value at the time t4.
Next, when t1 exceeds a prescribed value T1 at the step S402, at
the step S403 the pedal reaction-force control means 3 updates an
initial reaction force Fi by the following equation (1) and
temporarily finishes this processing. In other words, as shown in
FIG. 8B, when a prescribed value T is exceeded at the time t5, the
reaction-force control means 3 updates an added reaction force from
Fi1 to Fi2. Incidentally, Fnew, which is determined by statistic
processing of average values, etc. from a history of pedal force
within a prescribed time immediately before the execution of the
equation (1), indicates a pedal reaction force necessary for the
driver.
On the other hand, in a case where the pedal force F is not larger
than a prescribed threshold value Fu at the step S305 in FIG. 5, at
the step S306 the pedal reaction-force control means 3 judges
whether or not the pedal force F is less than a prescribed
threshold value F1. In a case where the pedal force F is less than
F1, at the step S500 the pedal reaction-force control means 3
performs the processing for reducing an initial reaction force. In
a case where the pedal force F is not less F1, the step 306
proceeds to the step S307.
On the basis of the output of the pedal reaction-force addition
means 4, which has been set, a threshold value Fl is set as a
lower-limit value of the output ratio of the foot-power detection
means 2 to the pedal reaction-force addition means 4. In a case
where the output of the pedal force detection means 2 is less than
a set threshold value F1, the pedal reaction-force addition means 3
judges that a reaction force added to the pedal is unsuitable for
the driver and performs the processing for reducing an initial
reaction force at the step S500.
The content of the processing for reducing an initial reaction
force, the step S500, is described by referring to FIG. 9. The
processing for reducing an initial reaction force, the step S500,
provides a pedal reaction force suitable for the driver by reducing
a reaction force added to the pedal in a case where a set initial
reaction force is judged to be too strong for the driver.
At the step S501 in FIG. 9, the pedal reaction-force control means
3 counts, by means of a counter t2, the time during which the
condition that the pedal force F is not less than a threshold value
F1 is continued.
Next, when t2 exceeds a prescribed value T2 at the step S502, at
the step S403 the pedal reaction-force control means 3 updates an
initial reaction force Fi by the following equation (2) and
temporarily finishes this processing. In other words, as shown in
FIG. 10B, when a prescribed value T2 is exceeded at the time t6,
the reaction-force control means 3 updates an added reaction force
from Fi3 to Fi4. Incidentally, Fnew, which is determined by
statistic processing of average values, etc. from a history of
pedal force within a prescribed time immediately before the
execution of the equation (2), indicates a pedal reaction force
necessary for the driver.
As described above, the processing at the steps S400 and S500
enables a pedal reaction force always best suited to the driver to
be supplied according to changes in driving environments.
Next, in FIG. 5, after the finish of the steps S304, S400 and S500
and in the case of a negative judgment at the step S306, the pedal
reaction-force control means 3 learns, at the step S307,
information capable of being obtained from the vehicle and the
driver's pedal operation in the driving environment and temporarily
finishes this processing.
As described above, according to this embodiment, the pedal
reaction-force addition means 4 enables a pedal reaction force
always suitable for the driver to be added without being affected
by personal differences among drivers and also enables the driver
to sufficiently place his or her foot on the pedal 1, thereby
making it possible to reduce the driver's physical fatigue during
driving. Furthermore, the pedal-status information device enables
the driver to have a visual grasp of pedal-holding limits of the
pedal reaction-force addition means 4, with the result that it
becomes unnecessary for the driver to worry about depressing the
pedal when the driver's foot is simply placed on the pedal and that
rapid acceleration and rapid braking can be prevented, leading to
an improvement in safety and a decrease in the driver's
psychological fatigue. Thus, according to this embodiment, it is
possible to add an appropriate reaction force to the pedal.
The arrangement of a pedal apparatus for vehicles according to a
second embodiment of the present invention is described by
referring to FIG. 11. In this embodiment, the pedal reaction-force
addition means is described in a case where it is added to a brake
pedal.
FIG. 11 is a block diagram which shows the arrangement of a pedal
apparatus for vehicles comprising a pedal reaction-force addition
device according to the second embodiment of the present invention.
Incidentally, the same numerals as in FIG. 1 indicate the same
parts as in FIG. 1.
In this embodiment, the pedal reaction-force addition means
comprises a brake pedal 6, a pedal force detection means 2, a pedal
reaction-force control means 3, a master cylinder 7, a brake
caliper (BC), an on-off valve 8, and an electronic control unit
(ECU). The master cylinder 7 works by the operation of the brake
pedal 6. The brake caliper (BC) is connected to the master cylinder
7 via a conduit and causes wheels to generate a braking force. The
on-off valve 8 allows a hydraulic pressure which is transmitted
from the master cylinder 7 to the brake caliper (BC). The
electronic control unit (ECU) 9 controls the opening degree of the
on-off valve 8 on the basis of the output of the pedal
reaction-force control means 3.
In a case where the driver simply places his or her foot on the
brake pedal 6 during the operation of an automatic running control
apparatus and the output of the pedal force detection means 2,
hence the pedal force F is smaller than a reaction force FK, the
on-off valve 8 closes so that the output of the master cylinder 7
is not transmitted to the brake caliper (BC). In other words, a
braking force is not generated because the brake pedal 6 is not
depressed even when the driver places his or her foot on the brake
pedal 6. On the other hand, in a case where the pedal force is
larger than a reaction force FK, the on-off valve 8 opens and a
hydraulic pressure is transmitted to the brake caliper (BC),
generating a braking force.
By arranging the pedal reaction-force addition means as mentioned
above, according to this embodiment, an appropriate reaction force
can be added to the pedal.
The arrangement of a pedal apparatus for vehicles according to a
second embodiment of the present invention is described by
referring to FIG. 12. In this embodiment, the pedal reaction-force
addition means is described in a case where it is added to an
accelerator pedal.
FIG. 12 is a block diagram which shows the arrangement of a pedal
apparatus for vehicles comprising a pedal reaction-force addition
device according to the third embodiment of the present invention.
Incidentally, the same numerals as in FIG. 1 indicate the same
parts as in FIG. 1.
In this embodiment, the pedal reaction-force addition means
comprises an accelerator pedal 10, a pedal force detection means 2,
a pedal reaction-force control means 3, a cylinder 11, a protrusion
12, a compressor 13, a conduit 14, a support portion 15, a metal
fitting 16, and a pressure-receiving portion 17. The protrusion 12
adds a reaction force to the accelerator pedal 10 according to the
pressure in the cylinder 11. The compressor 13 adjusts the pressure
in the cylinder 11. The conduit 14 connects the cylinder 11 to the
compressor 13. The metal fitting 16 is rotatably supported by the
support portion 15 and transmits a manipulated variable of the
accelerator pedal 10 to the vehicle. The pressure-receiving portion
17 receives the pressure in the cylinder 11 via the protrusion 12
attached to the metal fitting 16.
The compressor 13 adjusts the pressure in the cylinder 11 via the
conduit 14 on the basis of the output of the pedal reaction-force
control means 3, which is calculated on the basis of the pedal
force detection means 2. The protrusion 12 generates a reaction
force in the pedal via the pressure-receiving portion 17 according
to the pressure in the cylinder 11.
By arranging the pedal reaction-force addition means as mentioned
above, according to this embodiment, an appropriate reaction force
can be added to the pedal.
The arrangement of a pedal apparatus for vehicles according to a
fourth embodiment of the present invention by referring to FIG. 13
to FIGS. 16A to 16D.
First, the arrangement of a pedal apparatus for vehicles according
to this embodiment of the present invention is described by
referring to FIG. 13.
FIG. 13 is a block diagram which shows the arrangement of a pedal
apparatus for vehicles comprising a pedal reaction-force addition
device according to the fourth embodiment of the present invention.
Incidentally, the same numerals as in FIG. 1 indicate the same
parts as in FIG. 1.
A pedal-status information device 18, which is used in a vehicle
equipped with a pedal 1, a pedal force detection means 2 and a
pedal reaction-force addition means 4, comprises a computing means
19, a voice output device 20 and a display means 21. The computing
means 19 computes the output of the pedal force detection means 2
and the output of the pedal reaction-force addition means 4. On the
basis of results of computation, by use of the voice output device
20 or display means 20, the computing means 19 notifies the driver
of the maximum pedal force-which the pedal reaction-force addition
means 4 can hold. A concrete example of display means 21 will be
described later by referring to FIG. 14.
The composition of a display means 21 used in the pedal-status
information device according to the fourth embodiment of the
present invention is described by referring to FIG. 14.
FIG. 14 is a block diagram which shows the arrangement of a display
means used in the a pedal-status information device according to
the fourth embodiment of the present invention.
The display means 21 comprises a level display portion 22, which is
composed of a plurality of LEDs, an alarm display portion 23, and
an action display portion 24.
The level display portion 22 computes, by use of a computing means
19, the ratio of the pedal force capable of being held by a pedal
reaction-force addition means 4 to the pedal force detected by a
pedal force detection means 2, and converts the ratio to the number
of LEDs which come on.
As shown in FIG. 14, in a case where the level display portion 22
is composed of ten LEDs, five LEDs come on if the ratio of detected
pedal force to the pedal force capable of being held by the pedal
reaction-force addition means 4 is 50%.
Another example of display means 21 used in the pedal-status
information device according to this embodiment is described by
referring to FIG. 15.
FIG. 15 is an explanatory diagram which shows another example of
display means used in the pedal-status information device according
to the fourth embodiment of the present invention.
As shown in FIG. 15, in a case where the output of the pedal
reaction-force addition means 4 is variable, when a set pedal
reaction force changed at the time t11, the display of the level
display portion 22 is updated even if detected pedal force remains
unchanged before and after the time t11.
Next, a display method of the pedal-status information device
according to this embodiment is described by referring to FIGS. 16A
to 16D.
FIGS. 16A to 16D are time charts which show a display method of the
pedal-status information device according to the fourth embodiment
of the present invention. In FIGS. 16A to 16D, the horizontal axis
represents time. The virtical axis of FIG. 16A represents the
magnitude of pedal force, the horizontal axis of FIG. 16B the
condition of alarm notice by an alarm display portion 23, and the
vertical axis of FIG. 16C the condition of action notice by an
action notice portion 24.
In a case where the driver's pedal force detected by a pedal force
detection means 2 changed as shown in FIG. 16A, when a prescribed
threshold value of which notice is made Ft is exceeded at the time
t12, the LEDs of alarm display portion 23 come on as shown in FIG.
16B. Furthermore, when the pedal force is added to the pedal and at
the time t13, the pedal force exceeds a limit value Flimit of
pedal-holding force as shown in FIG. 16A, the pedal is operated as
shown in FIG. 16D and, at the same time, the LEDs of action display
portion 24 come on as shown in FIG. 16C. A prescribed threshold
value of which notice is made Ft is determined on the basis of a
limit value of pedal-holding force Flim at a set pedal reaction
force.
The alarm display portion 23 notifies the driver of the fact that
when the detected pedal force increases further, that is, when the
pedal is further depressed, a limit value of pedal-holding force
Flim is exceeded, resulting in the cancellation of pedal holding.
Furthermore, the action display portion 24 is for notifying the
driver of the fact that pedal holding was cancelled and that a
control variable of the pedal is being communicated to the
vehicle.
Therefore, from each display portion of the pedal-status
information device 21, the driver can easily recognize with what
force the pedal is held or with what maximum force the driver's
foot can be placed on the pedal. Furthermore, by use of a voice
output device 20 or a display means 21, the driver can easily judge
to what extent the pedal reaction-force means 4 can hold the pedal
force and, therefore, the driver can sufficiently place his or her
foot on the pedal and, at the same time, it is unnecessary for the
driver to pay attention to the possibility that the pedal may be
depressed when the driver's foot is placed on the pedal, thereby
making it possible to reduce the driver's psychological
fatigue.
Incidentally, the action condition can be notified to the driver
also by an alarm sound or a voice by means of the voice output
device 20, for example, in addition to the notification by the LEDs
of alarm display portion 23 or action display portion 24.
As described above, according to this embodiment, the pedal
apparatus is equipped with the action-condition notice means for
the driver and, therefore, the pedal apparatus does not put a
burden on the driver and is friendly to the driver.
Next, other examples of display means used in the pedal-status
information device according to this embodiment are described by
referring to FIGS. 17 to 19.
FIG. 17 is an explanatory diagram which shows a further example of
display means used in the pedal-status information device according
to the fourth embodiment of the present invention.
FIGS. 18 and 19 are explanatory diagrams which show other examples
of display means used in the pedal-status information device
according to the fourth embodiment of the present invention.
A display means 21A shown in FIG. 17 is provided with two level
display portions 25a and 25b in addition to an alarm display
portion 23 and an action display portion 24.
As shown in FIG. 18, the level display portion 25a displays the
ratio of a set pedal reaction force to a maximum value of pedal
reaction force capable of being set and the level display portion
25b displays the ratio of the pedal force capable of being held by
the pedal reaction-force addition means 4 to the pedal force
detected by the pedal force detection means 2, as with the level
display portion 22 shown in FIG. 14, whereby it is possible to
obtain information on both the set pedal reaction force and the
pedal holding limit.
Furthermore, as another display method, as shown in FIG. 19, the
level display portion 25a displays the ratio of a set pedal
reaction force to a maximum value of pedal reaction force capable
of being set and the level display portion 25b displays the ratio
of detected pedal force to a maximum value of pedal reaction force
capable of being set, whereby it is also possible to compare the
set pedal reaction force with the present pedal force by using the
maximum value of pedal reaction force capable of being set as a
standard.
Set information, results of learning, etc. in each of the above
embodiments are recorded in a data recording means (not shown) in
the interior of the pedal reaction-force control means 3, and the
data recording means constantly retains recorded data. Therefore,
each time the driver drives a vehicle, results of learning are
added and updated and the data recording means can supply a
reaction force of the pedal 1 which is more comfortable to the
driver. Furthermore, by installing a plurality of data recording
means and also means for selecting data recording means to be used,
such as a switch (not shown in the figures), in a case where one
vehicle is used by a plurality of drivers, it is possible to
perform the adjustment of a reaction force of the pedal 1 by
calling data for each driver. Moreover, by installing means for
initializing data recording means (not shown in the figures), even
in a case where one vehicle is used by an indefinite number of
drivers, it is possible to adopt the above method of addition a
pedal reaction force.
Still further examples of arrangement of the display means used in
the pedal-status information device according to this embodiment
are described by referring to FIGS. 20 to 23.
FIGS. 20 to 23 are block diagrams which show still further examples
of arrangement of the display means used in the pedal-status
information device according to the fourth embodiment of the
present invention. Incidentally, the same numerals as in FIG. 14
indicate the same parts as in FIG. 14.
In FIG. 20, a pedal-status information device 21B is provided with
a bar display portion 26. In FIG. 21, a pedal-status information
device 21C is provided with a semicircular display portion 27. In
FIG. 22, a pedal-status information device 21D is provided with a
pointer meter 28. In FIG. 23, a pedal-status information device 21E
is provided with a display device 29, such as a liquid crystal
display.
As described above, according to this embodiment, the pedal
apparatus is equipped with the action-information notice means for
the driver and, therefore, it does not put a burden on the driver
and is friendly to the driver.
Next, the composition and operation of a pedal apparatus for
vehicles according to the fifth embodiment of the present invention
are described by referring to FIG. 24. The pedal apparatus of this
embodiment is provided with the pedal reaction-force addition
device shown in FIG. 1 and the pedal-status information device
shown in FIG. 13.
FIG. 24 is a block diagram which shows the arrangement of a pedal
apparatus for vehicles according to the fifth embodiment of the
present invention. Incidentally, the same numerals as in FIGS. 1
and 13 indicate the same parts as in FIGS. 1 and 13.
As described in FIGS. 1 to 12, the pedal reaction-force addition
means 3 adjusts a reaction force added to the pedal 1 according to
the pedal force detected by the pedal force detection means 2. As
described in FIGS. 13 to 23, the pedal-status information device 18
notifies the driver of the maximum pedal force which the pedal
reaction-force addition means 4 can hold.
By arranging the pedal apparatus in this manner, the operating
condition of the pedal reaction-force addition means can be easily
ascertained by use of the pedal-status information device and, at
the same time, it is possible to supply a condition in which a
reaction force added to the pedal is always suited to the driver,
with the result that the driver can sufficiently place his or her
foot on the pedal and can reduce his or her physical fatigue. At
the same time, it is possible for the driver to have a visual grasp
of holding limits of the pedal and it is unnecessary for the driver
to worry about rapid acceleration, rapid braking, etc., leading to
an improvement in safety and a decrease in the driver's
psychological fatigue.
As described above, according to this embodiment, by installing the
pedal reaction-force addition means, an appropriate reaction force
can be added to the pedal. Furthermore, the pedal apparatus is
equipped with the action-information notice means for the driver
and, therefore, the pedal apparatus does not put a burden on the
driver and is friendly to the driver.
Next, the arrangement of a vehicle equipped with a pedal apparatus
for vehicles according to the fifth embodiment of the present
invention is described by referring to FIG. 25.
FIG. 25 is a block diagram which shows the arrangement of a vehicle
equipped with the pedal apparatus for vehicles according to the
fifth embodiment of the present invention. Incidentally, the same
numerals as in FIGS. 1, 13 and 24 indicate the same parts as in
these figures.
A vehicle 30 is equipped with a brakeoperating mechanism 31, which
comprises a pedal reaction-force addition device composed of the
solenoid-type pedal reaction-force addition means 4 described in
FIG. 1 and a pedal-status information device 18, a braking and
driving system 37, which comprises an engine 32, a transmission 34
including a motor 33, and braking devices 35a to 35d and tires 36a
to 36d, and a control system 38 for controlling the braking and
driving system 37 in response to input information (which will be
described later).
The control system 38 is provided with a control unit for
controlling the engine 32, transmission 34, braking device 35, etc.
(not shown) and a control unit for controlling the whole braking
and driving system 37 (not shown), and each control unit
communicates via a network.
Furthermore, the control system 38 receives input information, such
as information from the pedal force detection means 2, condition of
a running-mode setting switch 39, condition of a driving-force
(acceleration) setting switch 40, information from sensors for the
manipulated variables of accelerator pedal .alpha., information
from a sensor for the rotation of the right front wheel Nfr,
information from a sensor for the rotation of the left front wheel
Nfl, information from a sensor for the rotation of the right rear
wheel Nrr, information from a sensor for the rotation of the left
rear wheel Nrl, information on the number of revolutions of the
engine Ne, information on the number of revolutions of the motor
Nm, distance between the driver's vehicle and the vehicle in front
S and relative speed with respective to the vehicle in front Vr,
which are obtained from a radar system, etc. not shown in the
figure, a speed setting switch 41 by which the driver can set a
target speed, and a pedal reaction-force correction switch 42.
On the basis of these input signals, the control system 38 controls
the engine 32, transmission 34 and braking device 35 and the
acceleration, deceleration, start of running, stop and
constant-speed running are performed. During these operations, the
reaction force of the pedal is determined by the pedal
reaction-force control means 3 on the basis of information from the
pedal force detection means 2 and is reflected in the quantity of
electricity of a coil 4a of the solenoid-type pedal reaction-force
addition means 4. The action of the pedal reaction-force addition
means 4 can be set on and off by use of a footrest button of the
running-mode setting switch 39.
As described above, in an automobile 30 in which the pedal
reaction-force addition means 4 as in this embodiment is used, the
driver can control the acceleration and deceleration speeds of the
vehicle only by brake operation without moving his or her foot onto
the accelerator pedal to depress it, thereby enabling the driver to
reduce his or her fatigue during driving. Furthermore, because the
driver's foot is constantly placed on the brake pedal, the driver
can quickly and strongly depress the brake in an emergency, leading
to improved safety.
Incidentally, the present invention is not limited to the above
embodiments and can be implemented in various embodiments in which,
for example, portions of the invention are combined together, as
far as they do not depart from the spirit of the invention. For
example, it is possible to install a means for detecting the
tension between a body 5 and a stator 4a (not shown) in place of
the pedal reaction-force addition means 2 shown in FIG. 1, to
install a hydraulic-pressure detection means (not shown) in a
conduit that connects a master cylinder 7 and a brake caliper (BC)
or in an on-off valve 15 in place of the foot-power detection means
2 shown in FIG. 11, or to install a pressure detection means (not
shown) within a cylinder 11 in place of the foot-power detection
means 2 shown in FIG. 12.
According to the present invention, an appropriate reaction force
can be added to the pedal. Furthermore, it is possible to obtain a
pedal apparatus which does not put a burden on the driver and which
is friendly to the driver.
* * * * *